3Asada H.A Geometrical Represantation of Manipulator Dynamics andits Application to Arm Design.Trans.Of ASME J[J]. Optimiation ofDynamic Systems,Measurement and Control.1983,105(3):140-145.
4John J.Craig.Introduction to Robotics Mechanics and Control ThirdEditoin[M]. London:Pearson Education Ltd,2005.
5Asada H. A Geometrical Represantation of Manipulator Dynamics and its Application to Arm Design[J].Trans Of ASME J Optim-iation of Dynamic Systems Measurement and Control,1983,(03):140-145.
6John J. Craig. Introduction to Robotics Mechanics and Control Third Editoin[M].London:Pearson Education Ltd,2005.
7黄真;赵永生;赵铁石.高等空间机构学[M]北京:高等教育出版社,2006.
8CHU B,JUNG K, HAN CH S,et al. A survey of climbingrobots: Locomotion and adhesionfj]. International Journalof Precision Engineering and Manufacturing, 2010,11(4): 633-647.
9WANG Zhiheng, BAO Guanjun, ZHANG Libin, et al.Development and control of flexible pneumaticwall-climbing robot[J], Journal of Central SouthUniversity of Technology,2009,16(6) : 961 -970.
10ROCHATFA, SCHOENEICH PA,LUTHIBA, et al.Cy-mag3D: A simple and miniature climbing robot withadvance mobility in ferro-magnetic environment[J].Industrial Robot, 2011,38: 229-233.